?? jacob_distor_fm.m
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SLAM Summer School 2006, Oxford.% Practical 3. SLAM using Monocular Vision.% Practical exercise.% J.M.M. Montiel, Javier Civera, Andrew J. Davison.% {josemari, jcivera}@unizar.es, ajd@doc.ic.ac.uk%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%function J_distor = jacob_distor_fm( camera, uvd )%% Jacobian of the distortion of the image coordinates% presented in% Real-Time 3D SLAM with Wide-Angle Vision, % Andrew J. Davison, Yolanda Gonzalez Cid and Nobuyuki Kita, IAV 2004.% input% camera - camera calibration parameters% uv - distorted image points in pixels% output% J_distor - distorted coordinate points%% J.M.M Montiel% August 2005J_distor = inv( jacob_undistor_fm( camera, uvd ) );
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